Automatic Deburring with Industrial Robot. Removal of Projection on a Convex Sculptured Surface.

摘要

The study deals with automatic deburring on the basis of CAD technology. The recognition of a workpiece location is required much for the automatic deburring operation. The comparison of the CAD data of the workpiece and the image data enables the robot to know the workpiece location and the burr shape, which results in the generation of deburring tool path. As a deburring tool, a pneumatic grinder is mounted to the arm of the robot having 6-DOF in order to give an arbitrary position and attitude to the tool. The robot control data converted from the deburring path is transmitted directly to the robot. From experimental results, the system is found effective to remove a projection-shaped burr on a cast iron workpiece.